Public Types | Public Member Functions | List of all members
pinocchio::LieGroupGenericTpl< LieGroupCollection > Struct Template Reference

#include <fwd.hpp>

Inheritance diagram for pinocchio::LieGroupGenericTpl< LieGroupCollection >:
Inheritance graph
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Public Types

enum  { Options = LieGroupCollection::Options }
 
typedef LieGroupCollection::LieGroupVariant Base
 
typedef LieGroupCollection::LieGroupVariant LieGroupVariant
 
typedef LieGroupCollection::Scalar Scalar
 
- Public Types inherited from pinocchio::LieGroupBase< LieGroupGenericTpl< LieGroupCollection > >
enum  
 
typedef Eigen::Matrix< Scalar, NQ, 1, OptionsConfigVector_t
 
typedef int Index
 
typedef Eigen::Matrix< Scalar, NV, NV, OptionsJacobianMatrix_t
 
typedef LieGroupGenericTpl< LieGroupCollection > LieGroupDerived
 
typedef traits< LieGroupDerived >::Scalar Scalar
 
typedef Eigen::Matrix< Scalar, NV, 1, OptionsTangentVector_t
 

Public Member Functions

bool isEqual_impl (const LieGroupGenericTpl &other) const
 
template<typename LieGroupDerived >
 LieGroupGenericTpl (const LieGroupBase< LieGroupDerived > &lg_base)
 
template<typename LieGroup >
 LieGroupGenericTpl (const LieGroupVariant &lg_variant)
 
 LieGroupGenericTpl (const LieGroupGenericTpl &lg_generic)
 
std::string name () const
 
int nq () const
 
int nv () const
 
bool operator!= (const LieGroupGenericTpl &other) const
 
LieGroupGenericTploperator= (const LieGroupGenericTpl &other)
 
bool operator== (const LieGroupGenericTpl &other) const
 
const LieGroupVarianttoVariant () const
 
LieGroupVarianttoVariant ()
 
- Public Member Functions inherited from pinocchio::LieGroupBase< LieGroupGenericTpl< LieGroupCollection > >
void integrate (const Eigen::MatrixBase< ConfigIn_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< ConfigOut_t > &qout) const
 Integrate a joint's configuration with a tangent vector during one unit time duration. More...
 
void integrateCoeffWiseJacobian (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Jacobian_t > &J) const
 Computes the Jacobian of the integrate operator around zero. More...
 
void dIntegrate (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianOut_t > &J, AssignmentOperatorType op=SETTO) const
 Computes the Jacobian of a small variation of the configuration vector or the tangent vector into tangent space at identity. More...
 
void dIntegrate (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianOut_t > &J, const ArgumentPosition arg, const AssignmentOperatorType op=SETTO) const
 Computes the Jacobian of a small variation of the configuration vector or the tangent vector into tangent space at identity. More...
 
void dIntegrate_dq (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianOut_t > &J, const AssignmentOperatorType op=SETTO) const
 Computes the Jacobian of a small variation of the configuration vector into tangent space at identity. More...
 
void dIntegrate_dq (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianIn_t > &Jin, int self, const Eigen::MatrixBase< JacobianOut_t > &Jout, const AssignmentOperatorType op=SETTO) const
 
void dIntegrate_dq (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, int self, const Eigen::MatrixBase< JacobianIn_t > &Jin, const Eigen::MatrixBase< JacobianOut_t > &Jout, const AssignmentOperatorType op=SETTO) const
 
void dIntegrate_dv (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianOut_t > &J, const AssignmentOperatorType op=SETTO) const
 Computes the Jacobian of a small variation of the tangent vector into tangent space at identity. More...
 
void dIntegrate_dv (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, int self, const Eigen::MatrixBase< JacobianIn_t > &Jin, const Eigen::MatrixBase< JacobianOut_t > &Jout, const AssignmentOperatorType op=SETTO) const
 
void dIntegrate_dv (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianIn_t > &Jin, int self, const Eigen::MatrixBase< JacobianOut_t > &Jout, const AssignmentOperatorType op=SETTO) const
 
void dIntegrateTransport (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianIn_t > &Jin, const Eigen::MatrixBase< JacobianOut_t > &Jout, const ArgumentPosition arg) const
 Transport a matrix from the terminal to the originate tangent space of the integrate operation, with respect to the configuration or the velocity arguments. More...
 
void dIntegrateTransport (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< Jacobian_t > &J, const ArgumentPosition arg) const
 Transport in place a matrix from the terminal to the originate tangent space of the integrate operation, with respect to the configuration or the velocity arguments. More...
 
void dIntegrateTransport_dq (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianIn_t > &Jin, const Eigen::MatrixBase< JacobianOut_t > &Jout) const
 Transport a matrix from the terminal to the originate tangent space of the integrate operation, with respect to the configuration argument. More...
 
void dIntegrateTransport_dq (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< Jacobian_t > &J) const
 Transport in place a matrix from the terminal to the originate tangent space of the integrate operation, with respect to the configuration argument. More...
 
void dIntegrateTransport_dv (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianIn_t > &Jin, const Eigen::MatrixBase< JacobianOut_t > &Jout) const
 Transport a matrix from the terminal to the originate tangent space of the integrate operation, with respect to the velocity argument. More...
 
void dIntegrateTransport_dv (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< Jacobian_t > &J) const
 Transport in place a matrix from the terminal to the originate tangent space of the integrate operation, with respect to the velocity argument. More...
 
void interpolate (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Scalar &u, const Eigen::MatrixBase< ConfigOut_t > &qout) const
 Interpolation between two joint's configurations. More...
 
void normalize (const Eigen::MatrixBase< Config_t > &qout) const
 Normalize the joint configuration given as input. For instance, the quaternion must be unitary. More...
 
bool isNormalized (const Eigen::MatrixBase< Config_t > &qin, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const
 Check whether the input joint configuration is normalized. For instance, the quaternion must be unitary. More...
 
void random (const Eigen::MatrixBase< Config_t > &qout) const
 Generate a random joint configuration, normalizing quaternions when necessary. More...
 
void randomConfiguration (const Eigen::MatrixBase< ConfigL_t > &lower_pos_limit, const Eigen::MatrixBase< ConfigR_t > &upper_pos_limit, const Eigen::MatrixBase< ConfigOut_t > &qout) const
 Generate a configuration vector uniformly sampled among provided limits. More...
 
void difference (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Eigen::MatrixBase< Tangent_t > &v) const
 Computes the tangent vector that must be integrated during one unit time to go from q0 to q1. More...
 
void dDifference (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Eigen::MatrixBase< JacobianOut_t > &J) const
 Computes the Jacobian of the difference operation with respect to q0 or q1. More...
 
void dDifference (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Eigen::MatrixBase< JacobianOut_t > &J, const ArgumentPosition arg) const
 Computes the Jacobian of the difference operation with respect to q0 or q1. More...
 
void dDifference (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Eigen::MatrixBase< JacobianIn_t > &Jin, int self, const Eigen::MatrixBase< JacobianOut_t > &Jout, const AssignmentOperatorType op=SETTO) const
 
void dDifference (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, int self, const Eigen::MatrixBase< JacobianIn_t > &Jin, const Eigen::MatrixBase< JacobianOut_t > &Jout, const AssignmentOperatorType op=SETTO) const
 
Scalar squaredDistance (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1) const
 Squared distance between two joint configurations. More...
 
Scalar distance (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1) const
 Distance between two configurations of the joint. More...
 
bool isSameConfiguration (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const
 Check if two configurations are equivalent within the given precision. More...
 
bool operator== (const LieGroupBase &other) const
 
bool operator!= (const LieGroupBase &other) const
 
ConfigVector_t integrate (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v) const
 
ConfigVector_t interpolate (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Scalar &u) const
 
ConfigVector_t random () const
 
ConfigVector_t randomConfiguration (const Eigen::MatrixBase< ConfigL_t > &lower_pos_limit, const Eigen::MatrixBase< ConfigR_t > &upper_pos_limit) const
 
TangentVector_t difference (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1) const
 
void dIntegrate_product_impl (const Config_t &q, const Tangent_t &v, const JacobianIn_t &Jin, JacobianOut_t &Jout, bool dIntegrateOnTheLeft, const ArgumentPosition arg, const AssignmentOperatorType op) const
 
void dDifference_product_impl (const ConfigL_t &q0, const ConfigR_t &q1, const JacobianIn_t &Jin, JacobianOut_t &Jout, bool dDifferenceOnTheLeft, const AssignmentOperatorType op) const
 
void interpolate_impl (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Scalar &u, const Eigen::MatrixBase< ConfigOut_t > &qout) const
 
void normalize_impl (const Eigen::MatrixBase< Config_t > &qout) const
 
bool isNormalized_impl (const Eigen::MatrixBase< Config_t > &qin, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const
 
Scalar squaredDistance_impl (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1) const
 
bool isSameConfiguration_impl (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Scalar &prec) const
 
bool isEqual_impl (const LieGroupBase &) const
 Default equality check. By default, two LieGroupBase of same type are considered equal. More...
 
bool isDifferent_impl (const LieGroupBase &other) const
 
Index nq () const
 
Index nv () const
 Get dimension of Lie Group tangent space. More...
 
ConfigVector_t neutral () const
 Get neutral element as a vector. More...
 
std::string name () const
 Get name of instance. More...
 
LieGroupGenericTpl< LieGroupCollection > & derived ()
 
const LieGroupGenericTpl< LieGroupCollection > & derived () const
 

Additional Inherited Members

- Protected Member Functions inherited from pinocchio::LieGroupBase< LieGroupGenericTpl< LieGroupCollection > >
 LieGroupBase ()
 
 LieGroupBase (const LieGroupBase &)
 
LieGroupBaseoperator= (const LieGroupBase &)
 

Detailed Description

template<typename LieGroupCollection>
struct pinocchio::LieGroupGenericTpl< LieGroupCollection >

Definition at line 12 of file src/multibody/liegroup/fwd.hpp.

Member Typedef Documentation

◆ Base

template<typename LieGroupCollection>
typedef LieGroupCollection::LieGroupVariant pinocchio::LieGroupGenericTpl< LieGroupCollection >::Base

Definition at line 30 of file liegroup-generic.hpp.

◆ LieGroupVariant

template<typename LieGroupCollection>
typedef LieGroupCollection::LieGroupVariant pinocchio::LieGroupGenericTpl< LieGroupCollection >::LieGroupVariant

Definition at line 31 of file liegroup-generic.hpp.

◆ Scalar

template<typename LieGroupCollection>
typedef LieGroupCollection::Scalar pinocchio::LieGroupGenericTpl< LieGroupCollection >::Scalar

Definition at line 33 of file liegroup-generic.hpp.

Member Enumeration Documentation

◆ anonymous enum

template<typename LieGroupCollection>
anonymous enum
Enumerator
Options 

Definition at line 34 of file liegroup-generic.hpp.

Constructor & Destructor Documentation

◆ LieGroupGenericTpl() [1/3]

template<typename LieGroupCollection>
template<typename LieGroupDerived >
pinocchio::LieGroupGenericTpl< LieGroupCollection >::LieGroupGenericTpl ( const LieGroupBase< LieGroupDerived > &  lg_base)
inline

Definition at line 37 of file liegroup-generic.hpp.

◆ LieGroupGenericTpl() [2/3]

template<typename LieGroupCollection>
template<typename LieGroup >
pinocchio::LieGroupGenericTpl< LieGroupCollection >::LieGroupGenericTpl ( const LieGroupVariant lg_variant)
inline

Definition at line 42 of file liegroup-generic.hpp.

◆ LieGroupGenericTpl() [3/3]

template<typename LieGroupCollection>
pinocchio::LieGroupGenericTpl< LieGroupCollection >::LieGroupGenericTpl ( const LieGroupGenericTpl< LieGroupCollection > &  lg_generic)
inline

Definition at line 46 of file liegroup-generic.hpp.

Member Function Documentation

◆ isEqual_impl()

template<typename LieGroupCollection>
bool pinocchio::LieGroupGenericTpl< LieGroupCollection >::isEqual_impl ( const LieGroupGenericTpl< LieGroupCollection > &  other) const
inline

Definition at line 62 of file liegroup-generic.hpp.

◆ name()

template<typename LieGroupCollection>
std::string pinocchio::LieGroupGenericTpl< LieGroupCollection >::name ( ) const
inline

Definition at line 80 of file liegroup-generic.hpp.

◆ nq()

template<typename LieGroupCollection>
int pinocchio::LieGroupGenericTpl< LieGroupCollection >::nq ( ) const
inline

Definition at line 67 of file liegroup-generic.hpp.

◆ nv()

template<typename LieGroupCollection>
int pinocchio::LieGroupGenericTpl< LieGroupCollection >::nv ( ) const
inline

Definition at line 68 of file liegroup-generic.hpp.

◆ operator!=()

template<typename LieGroupCollection>
bool pinocchio::LieGroupGenericTpl< LieGroupCollection >::operator!= ( const LieGroupGenericTpl< LieGroupCollection > &  other) const
inline

Definition at line 75 of file liegroup-generic.hpp.

◆ operator=()

template<typename LieGroupCollection>
LieGroupGenericTpl& pinocchio::LieGroupGenericTpl< LieGroupCollection >::operator= ( const LieGroupGenericTpl< LieGroupCollection > &  other)
inline

Definition at line 50 of file liegroup-generic.hpp.

◆ operator==()

template<typename LieGroupCollection>
bool pinocchio::LieGroupGenericTpl< LieGroupCollection >::operator== ( const LieGroupGenericTpl< LieGroupCollection > &  other) const
inline

Definition at line 70 of file liegroup-generic.hpp.

◆ toVariant() [1/2]

template<typename LieGroupCollection>
const LieGroupVariant& pinocchio::LieGroupGenericTpl< LieGroupCollection >::toVariant ( ) const
inline

Definition at line 56 of file liegroup-generic.hpp.

◆ toVariant() [2/2]

template<typename LieGroupCollection>
LieGroupVariant& pinocchio::LieGroupGenericTpl< LieGroupCollection >::toVariant ( )
inline

Definition at line 59 of file liegroup-generic.hpp.


The documentation for this struct was generated from the following files:


pinocchio
Author(s):
autogenerated on Fri Jun 23 2023 02:38:35